CN104032659A - Milling machine, and intelligent leveling system and method thereof - Google Patents
Milling machine, and intelligent leveling system and method thereof Download PDFInfo
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- CN104032659A CN104032659A CN201410251253.6A CN201410251253A CN104032659A CN 104032659 A CN104032659 A CN 104032659A CN 201410251253 A CN201410251253 A CN 201410251253A CN 104032659 A CN104032659 A CN 104032659A
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Abstract
The invention discloses an intelligent leveling system and method for a milling machine. The intelligent leveling system is provided with a controller, a dip angle sensor, a speed sensor and a pull rope sensor, wherein the dip angle sensor, the pull rope sensor and the speed sensor are respectively connected with the controller; the dip angle sensor is used for detecting the dip angle of a machine frame of the milling machine in a real-time manner; the pull rope sensor is used for detecting a distance between a side sliding plate and the machine frame of the milling machine in a real-time manner; the speed sensor is used for detecting the running speed of the milling machine; the controller adopts different leveling strategies according to the detecting results of the speed sensor, and levels by regulating a front landing leg and a back landing leg stage by stage under a milling state. Compared with the prior art, the intelligent leveling system can reduce an impact on a cutting head, and effectively avoid the problems that overshoot is large and the lifting speed is difficult to control. On the basis of the intelligent leveling system, the invention also discloses the milling machine with the intelligent leveling system.
Description
Technical field
The present invention relates to road-surface milling technology, be specifically related to a kind of milling machine and intelligent leveling system thereof, method.
Background technology
At present, milling machine is the capital equipment of flexible pavement and cement pavement maintenance construction machinery; It is mainly used in the excavation of the bituminous concretes such as speedway, Class I highway, urban road, airport, goods yard, parking lot and Portland Cement Concrete Surface Course and overhauls.Utilize milling machine, milling is efficiently except pavement diseases such as the crack of flexible pavement, rut, loose, depression and function of surface decay; And the diseases such as hole, pitted skin, undisguised, loose and polishing are peeled off, are cheated in milling efficiently except the arching upward of cement concrete pavement, faulting of slab ends, plate face peeling.Milling machine operating efficiency is high, and construction technology is simple, and milling depth is easy to control, flexible to operation, mobility strong, and the old material of milling can also reclaim, and therefore, is widely used in the maintenance and innovation on road surface.
Milling machine is provided with frame conventionally, dynamical system, milling attachment, mobile devices, lifting gear (mainly comprising front leg strut and rear support leg), conveyer and accessory system, frame is supported on road surface by mobile devices and lifting gear, milling attachment mainly comprises milling and planing drum, milling and planing drum is arranged in frame, dynamical system provides power for milling machine, when operation, milling machine is with dumper work compound, under the ordering about of mobile devices, milling machine is advanced along road surface, the lifting of lifting gear control frame and then control milling depth, milling old material is out delivered on dumper through conveyer, dumper is responsible for old material to be transported to predetermined place.
Basic identical for ensureing milling machine milling thickness at work, on existing milling machine, all possesses intelligent leveling function, specific implementation is: left side slide plate and right side slide plate are set respectively in milling and planing drum both sides, left side slide plate, right side slide plate is all slidably connected with frame, and between left side slide plate and frame, between right side slide plate and frame, be provided with rope sensor, when operation, left side slide plate all contacts with road surface with right side slide plate, in the time that road surface rises and falls, left side slide plate and right side slide plate can corresponding fluctuatings, rope sensor detects left side slide plate, the fluctuating size of the relative frame of right side slide plate, control the lifting of lifting gear lifting and then control milling and planing drum according to the fluctuating size detecting, finally make milling degree of depth kept stable.
At present, for levelling and prevent that each supporting leg is stressed and unbalancely (conventionally require rear support leg a little less than front leg strut, with ensure the center of gravity of milling machine in operation process in stability range), in levelling process, existing milling machine can regulate front leg strut and rear support leg conventionally simultaneously; While exceeding design amount such as the degree of depth of milling, controller control front leg strut rises, and rear support leg rises with front leg strut simultaneously, and then promotes the height of milling and planing drum, reduces the milling degree of depth.This levelling mode responds comparatively fast in levelling process, but it exists following defect:
1) front leg strut, rear support leg move simultaneously, easily occur the problem that overshoot is large.
2) rising or falling speed is difficult to hold, and supporting leg rising or falling speed is too fast, and the cutter head on milling and planing drum impacts excessive on road surface, damages cutter head; Supporting leg rising or falling speed regulated slow, levelling response speed when impact is constructed.
Therefore, how to overcome the above-mentioned defect of milling machine, be still those skilled in the art's technical problem urgently to be resolved hurrily.
Summary of the invention
In view of this, the present invention proposes a kind of milling machine intelligence leveling system, method, utilizes this milling machine intelligence leveling system, method can avoid the problem that overshoot is large and rising or falling speed is difficult to assurance.On this basis, the present invention also proposes a kind of milling machine with this intelligence leveling system.
As first aspect, the milling machine intelligence leveling system that the present invention proposes, is provided with controller, obliquity sensor, velocity sensor and rope sensor, and described obliquity sensor, rope sensor, velocity sensor are connected with controller respectively; Described obliquity sensor is for detecting in real time the inclination angle of the frame of milling machine, and described rope sensor is for the distance between real-time sideskid and the frame that detects milling machine, and described velocity sensor is for detection of the travel speed of milling machine;
When the speed detecting when velocity sensor is zero, described in described controller control, the rear support leg of milling machine declines and then makes the milling depth of milling machine reach desired depth, then, described controller control front leg strut declines and then makes the current milling degree of depth reach target depth;
When the speed that detects when velocity sensor is non-vanishing, described controller is according to the front leg strut lifting of the testing result control milling machine of described rope sensor, and according to the rear support leg lifting of described pitch angle control milling machine.
In further technical scheme, when the speed that detects when velocity sensor is non-vanishing, described controller is according to the front leg strut lifting of the testing result control milling machine of described rope sensor, and while reaching predetermined value at described inclination angle, front leg strut stops lifting and controls rear support leg starting lifting described in described controller control.
In further technical scheme, described predetermined value comprises minimum angle-of-incidence value and inclination maximum value, in the time that described inclination angle reaches minimum angle-of-incidence value or inclination maximum value, the lifting of described controller control rear support leg is to guarantee that described inclination angle is between minimum angle-of-incidence value and inclination maximum value.
In further technical scheme, described controller obtains the current milling degree of depth of milling machine according to the testing result of rope sensor; When the speed detecting when velocity sensor is zero, controller is by the current milling degree of depth and desired depth contrasts and go out the decrease speed of rear support leg according to pid control algorithm and predetermined speed coefficient calculations, and then controls rear support leg and decline; When the current milling degree of depth reaches desired depth, controller is by the current milling degree of depth and target depth contrasts and go out the decrease speed of front leg strut according to pid control algorithm and predetermined speed coefficient calculations, and then control front leg strut decline, described predetermined speed coefficient is less than 1.
In further technical scheme, when the speed that detects when velocity sensor is non-vanishing, controller contrasts the current milling degree of depth and target depth, inclination angle and predetermined value; Described controller is according to the comparing result of the current milling degree of depth and target depth, inclination angle and predetermined value and calculate the rising or falling speed of front leg strut and rear support leg according to pid control algorithm, and then controls front leg strut and rear support leg lifting.
In further technical scheme, described desired depth is target depth 1/2nd.
The operating principle of this milling machine intelligence leveling system is: controller calculates the current milling degree of depth according to the testing result of rope sensor, in operation process, when the target depth of the current milling degree of depth and setting is inconsistent, controller control front leg strut rises or falls, and then make the milling and planing drum rising of milling machine or decline, reach the object of adjusting the milling degree of depth; Negotiation speed sensor detects the travel speed of milling machine, and then according to travel speed judge milling machine current be in milling state or in lower cutter state, take different leveling methods according to state difference, and then reduce the impact that in operation process, cutter is subject to; In the time of milling status adjustment supporting leg, if the inclination angle that obliquity sensor detects reaches some boundaries, front leg strut stops lifting, the lifting of controller control rear support leg, and then make the current milling degree of depth of milling and planing drum reach target depth; Such as, in milling process, the milling degree of depth is lower than target depth, now, controller control front leg strut reduces, when front leg strut and rear support leg equally high (can according to corresponding inclination angle judgement), controller control front leg strut stops move and controls rear support leg decline, and then makes milling and planing drum drop to suitable height.Can know by above-mentioned principle, this milling machine intelligence leveling system not only can take different levelling strategies to reduce impact according to operating mode, can also be in the milling stage by carrying out stage by stage the lifting of front leg strut and rear support leg, effectively avoid the problem that overshoot is large and rising or falling speed is difficult to assurance.
As second aspect, the milling machine intelligence leveling method that the present invention proposes, comprises the following steps:
Obtain travel speed and the current milling degree of depth of milling machine;
The inclination angle of the frame of monitoring milling machine in real time;
In the time that travel speed is zero, first control rear support leg and decline, until the current milling degree of depth reaches 1/2nd of desired value, then, control front leg strut and decline, until the current milling degree of depth reaches target depth;
In the time that travel speed is non-vanishing, first according to the current milling degree of depth and the lifting of target depth control front leg strut; In the time that the inclination angle of milling machine reaches predetermined value, according to described inclination angle, the current milling degree of depth and the lifting of target depth control rear support leg, thereby within the scope that the inclination angle that makes milling machine limits in predetermined value.
In further technical scheme, in the time that travel speed is zero, the decrease speed of front leg strut and rear support leg draws according to pid control algorithm and predetermined speed coefficient calculations, and predetermined speed coefficient is less than 1.
Different levelling modes is taked by a point state (showing that according to travel speed milling machine is in lower cutter state or milling state) in this milling machine intelligence levelling aspect, and then reduces the impact that in operation process, cutter is subject to; And this milling machine intelligence leveling method can also carry out stage by stage at milling state the lifting of front leg strut and rear support leg, and then effectively avoids the problem that overshoot is large and rising or falling speed is difficult to assurance.
As the third aspect, the milling machine that the present invention proposes, be provided with the milling machine intelligence leveling system of frame, front leg strut, rear support leg, mobile devices, sideskid, milling equipment and above-mentioned any one, described frame is supported on mobile devices by front leg strut and rear support leg, described milling equipment is arranged in frame, described sideskid is flexibly connected with frame, and described obliquity sensor is arranged in described frame.
Compared with prior art, this milling machine is by arranging above-mentioned milling machine intelligence leveling system, can effectively avoid the large and rising or falling speed of overshoot to be difficult to the problem of assurance, and then increase work efficiency and construction quality.
Brief description of the drawings
The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
The structural representation of the milling machine that Fig. 1 provides for the specific embodiment of the invention;
One of control block diagram of the milling machine intelligence leveling system that Fig. 2 provides for the specific embodiment of the invention;
Two of the control block diagram of the milling machine intelligence leveling system that Fig. 3 provides for the specific embodiment of the invention.
Description of reference numerals:
1-front leg strut, 2-mobile devices, 3-milling and planing drum, 4-obliquity sensor, 5-rear support leg, 6-frame, 7-sideskid
Detailed description of the invention
It should be noted that, in the situation that not conflicting, the feature in embodiment and embodiment in the present invention can combine mutually.Below in conjunction with accompanying drawing 1, specific embodiments of the invention are elaborated.
As shown in Figure 1, the milling machine that the specific embodiment of the invention proposes is provided with frame 6, mobile devices 2, front leg strut 1, rear support leg 5, milling and planing drum 3, sideskid 7 and intelligent leveling system (not demonstrating in figure), frame 6 is supported on mobile devices 2 by front leg strut 1 and rear support leg 5, milling and planing drum 3 is arranged in frame 6, sideskid 7 connects and can relative frame 6 slide up and down with frame 6, in addition, between sideskid 7 and frame 6, be also provided with telescopic oil cylinder (not shown), telescopic oil cylinder can order about the relative frame 6 of sideskid 7 and slide up and down; Intelligence leveling system is provided with controller, obliquity sensor 4 and rope sensor, and obliquity sensor 4, rope sensor are connected with controller respectively; Obliquity sensor 4 is arranged in frame 6, for detecting in real time the inclination angle of the frame 6 of milling machine; Rope sensor one end is connected with frame 6, and the other end is connected with sideskid 7, for the distance between real-time sideskid 7 and the frame 6 that detects milling machine.In milling and plane operation process, milling machine one edge road driving, carries out milling by milling and planing drum 3 road pavement on one side, and then certain thickness road top layer road materials is removed; In order to detect in real time the milling degree of depth, on milling machine, be provided with sideskid 7 and rope sensor, in the time of lower cutter (when milling is initial), by regulating the height of front leg strut 1 and rear support leg 5, make milling and planing drum 3 drop to suitable height, and then make the milling degree of depth reach target depth, then, telescopic oil cylinder extends, sideskid 7 is declined, and then sideskid 7 is supported on road surface, the distance that now rope sensor detects is exactly the distance that the milling degree of depth of milling machine has between sideskid 7 and frame 6 in the time of target depth; In view of in milling process, sideskid 7 is close on road surface all the time, controller can calculate the current milling degree of depth of milling machine according to the testing result of rope sensor, controller regulates the flexible of front leg strut 1 and rear support leg 5 according to the current milling degree of depth and target depth, and then makes the current milling degree of depth of milling machine maintain all the time target depth.
As shown in Figure 2, the levelling process of above-mentioned milling machine is: controller calculates the current milling degree of depth according to the testing result of rope sensor, if the current milling degree of depth is less than target depth, controller control front leg strut 1 decline (being step S5 in Fig. 2), in front leg strut 1 decline process, controller receives the inclination angle that obliquity sensor 4 feeds back in real time, and inclination angle and the angular range setting in advance are contrasted, with judge front leg strut 1 continue to decline whether can cause front leg strut 1 and rear support leg 5 stressed unbalance, if in front leg strut 1 decline process, the inclination angle of frame 6 does not exceed default angular range all the time, only regulate front leg strut 1 milling and planing drum 3 can be down to suitable height (height corresponding with target depth), if in front leg strut 1 decline process, the inclination angle of frame 6 reaches predetermined boundary value (being step S6 in Fig. 2), front leg strut 1 stops declining, controller control rear support leg 5 decline (being step S7 in Fig. 2), and then milling and planing drum 3 is dropped to suitable height.
Controlling in the process that front leg strut 1 and rear support leg 5 decline, the decrease speed of front leg strut 1 and rear support leg 5 can, according to the current milling degree of depth, target depth, inclination angle and default angular range, utilize pid control algorithm to calculate.
In other embodiments, can take different levelling strategies according to different operating modes, and then in ensureing operating efficiency, the implement of milling machine be protected; Such as installation rate sensor on milling machine, and then the travel speed of milling machine is detected, judge the current working of milling machine by the current driving speed of milling machine, and then take different levelling strategies according to different operating modes.Specific address, velocity sensor detects the travel speed of milling machine, as shown in Figure 3, controller judges (being step S1 in Fig. 3) to current driving speed, in the time that speed is zero, illustrate that milling machine is that milling is when initial in the lower cutter stage at present, now for preventing that cutter on milling and planing drum 3 is subject to excessive impact and damages, the decrease speed of milling and planing drum 3 is wanted slowly, soft, for this reason, as shown in step S2 and S3, controller first controls that rear support leg 5 declines until the position corresponding with 1/2nd target depths (is that the current milling degree of depth is while being 1/2nd target depths, the corresponding position of rear support leg 5), and in rear support leg 5 decline processes, controller contrasts the current milling degree of depth and 1/2nd target depths in real time, then calculate according to pid control algorithm the speed s1 that rear support leg 5 declines, on the basis of speed s1, being multiplied by one is less than 1 speed system X and obtains actual speed s2, be s2=s1*X, controller control rear support leg 5 declines with speed s2.After rear support leg 5 declines put in place, as shown in step S4, controller control front leg strut 1 declines until the current milling degree of depth reaches target depth, and wherein the decrease speed of front leg strut 1 can be according to the current milling degree of depth, target depth, utilizes pid control algorithm to calculate and obtains; In like manner, in order to reduce the decrease speed of front leg strut 1, in the result that also can calculate at pid control algorithm, be multiplied by coefficient of velocity X.
Compared with prior art, in milling and plane operation process, above-mentioned milling machine is by adjusting stage by stage the lifting of front leg strut and rear support leg, and then avoid the problem that overshoot is large and rising or falling speed is difficult to assurance, and, detect in real time by the inclination angle to frame, can effectively prevent that front leg strut and rear support leg are stressed unbalance.
The foregoing is only preferred embodiment of the present invention, in order to limit the present invention, within the spirit and principles in the present invention not all, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (9)
1. a milling machine intelligence leveling system, it is characterized in that, be provided with controller, obliquity sensor (4), velocity sensor and rope sensor, described obliquity sensor (4), rope sensor, velocity sensor are connected with controller respectively; Described obliquity sensor (4) is for detecting in real time the inclination angle of the frame (6) of milling machine, described rope sensor is for the distance between real-time sideskid (7) and the frame (6) that detects milling machine, and described velocity sensor is for detection of the travel speed of milling machine;
When the speed detecting when velocity sensor is zero, described in described controller control, the rear support leg (5) of milling machine declines and then makes the milling depth of milling machine reach desired depth, then, described controller control front leg strut (1) declines and then makes the current milling degree of depth reach target depth;
When the speed that detects when velocity sensor is non-vanishing, described controller is according to front leg strut (1) lifting of the testing result control milling machine of described rope sensor, and according to the rear support leg of described pitch angle control milling machine (5) lifting.
2. milling machine intelligence leveling system according to claim 1, it is characterized in that, when the speed that detects when velocity sensor is non-vanishing, described controller is according to front leg strut (1) lifting of the testing result control milling machine of described rope sensor, and while reaching predetermined value at described inclination angle, front leg strut (1) stops lifting and controls rear support leg (5) starting lifting described in described controller control.
3. milling machine intelligence leveling system according to claim 2, it is characterized in that, described predetermined value comprises minimum angle-of-incidence value and inclination maximum value, in the time that described inclination angle reaches minimum angle-of-incidence value or inclination maximum value, described controller control rear support leg (5) lifting is to guarantee that described inclination angle is between minimum angle-of-incidence value and inclination maximum value.
4. milling machine intelligence leveling system according to claim 2, is characterized in that, described controller obtains the current milling degree of depth of milling machine according to the testing result of rope sensor; When the speed detecting when velocity sensor is zero, controller is by the current milling degree of depth and desired depth contrasts and go out the decrease speed of rear support leg (5) according to pid control algorithm and predetermined speed coefficient calculations, and then controls rear support leg (5) decline; When the current milling degree of depth reaches desired depth, controller is by the current milling degree of depth and target depth contrasts and go out the decrease speed of front leg strut (1) according to pid control algorithm and predetermined speed coefficient calculations, and then control front leg strut (1) decline, described predetermined speed coefficient is less than 1.
5. milling machine according to claim 2 intelligence leveling system, is characterized in that, when the speed that detects when velocity sensor is non-vanishing, controller contrasts the current milling degree of depth and target depth, inclination angle and predetermined value; Described controller is according to the comparing result of the current milling degree of depth and target depth, inclination angle and predetermined value and calculate the rising or falling speed of front leg strut (1) and rear support leg (5) according to pid control algorithm, and then controls front leg strut (1) and rear support leg (5) lifting.
6. milling machine according to claim 5 intelligence leveling system, is characterized in that, described desired depth is target depth 1/2nd.
7. a milling machine intelligence leveling method, is characterized in that, comprises the following steps:
Obtain travel speed and the current milling degree of depth of milling machine;
The inclination angle of the frame (6) of monitoring milling machine in real time;
In the time that travel speed is zero, first control rear support leg (5) and decline, until the current milling degree of depth reaches 1/2nd of desired value, then, control front leg strut (1) and decline, until the current milling degree of depth reaches target depth;
In the time that travel speed is non-vanishing, first according to the current milling degree of depth and target depth control front leg strut (1) lifting; In the time that the inclination angle of milling machine reaches predetermined value, according to described inclination angle, the current milling degree of depth and target depth control rear support leg (5) lifting, thereby within the scope that the inclination angle that makes milling machine limits in predetermined value.
8. milling machine intelligence leveling method according to claim 7, it is characterized in that, in the time that travel speed is zero, the decrease speed of front leg strut (1) and rear support leg (5) draws according to pid control algorithm and predetermined speed coefficient calculations, and predetermined speed coefficient is less than 1.
9. a milling machine, it is characterized in that, be provided with frame (6), front leg strut (1), rear support leg (5), mobile devices (2), sideskid (7), milling machine intelligence leveling system described in milling equipment and claim 1-6 any one, described frame (6) is supported on mobile devices (2) by front leg strut (1) and rear support leg (5), described milling equipment is arranged in frame (6), described sideskid (7) is flexibly connected with frame (6), described obliquity sensor (4) is arranged in described frame (6).
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| CN104483985A (en) * | 2014-12-09 | 2015-04-01 | 镇江市高等专科学校 | Initial milling control system of road surface milling machine |
| CN109423948A (en) * | 2017-08-30 | 2019-03-05 | 卡特彼勒路面机械公司 | For operating the method and system of milling machine |
| CN109733492A (en) * | 2018-12-29 | 2019-05-10 | 长安大学 | A kind of milling and planing system method for automatically leveling |
| CN113202006A (en) * | 2021-04-16 | 2021-08-03 | 湖南三一路面机械有限公司 | Milling machine and support leg control method thereof |
| CN113227501A (en) * | 2018-12-28 | 2021-08-06 | 宝马格有限公司 | Method for height adjustment of a side plate of a ground milling machine and ground milling machine |
| US11203841B2 (en) | 2020-04-01 | 2021-12-21 | Caterpillar Paving Products Inc. | Machine, system, and method for automated milling exit cut operation |
| CN114150560A (en) * | 2021-12-03 | 2022-03-08 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
| US11692320B2 (en) | 2020-08-04 | 2023-07-04 | Caterpillar Paving Products Inc. | Milling machine chamber binding control systems and methods |
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| US11692320B2 (en) | 2020-08-04 | 2023-07-04 | Caterpillar Paving Products Inc. | Milling machine chamber binding control systems and methods |
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| CN114150560A (en) * | 2021-12-03 | 2022-03-08 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
| CN114150560B (en) * | 2021-12-03 | 2023-02-03 | 河南省高远公路养护技术有限公司 | High-precision full-width pavement milling equipment and milling method |
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Denomination of invention: Milling machine, and intelligent leveling system and method thereof Effective date of registration: 20191230 Granted publication date: 20160831 Pledgee: Business Department of Hunan Branch of China Construction Bank Co., Ltd. Pledgor: Hunan Sany Road Machinery Co., Ltd. Registration number: Y2019430000071 |
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Date of cancellation: 20211217 Granted publication date: 20160831 Pledgee: Business Department of Hunan Branch of China Construction Bank Co.,Ltd. Pledgor: HUNAN SANY ROAD MACHINERY Co.,Ltd. Registration number: Y2019430000071 |